CN111438710A - Truss robot, truss Z-axis mechanism and overload protector thereof - Google Patents
Truss robot, truss Z-axis mechanism and overload protector thereof Download PDFInfo
- Publication number
- CN111438710A CN111438710A CN202010285516.0A CN202010285516A CN111438710A CN 111438710 A CN111438710 A CN 111438710A CN 202010285516 A CN202010285516 A CN 202010285516A CN 111438710 A CN111438710 A CN 111438710A
- Authority
- CN
- China
- Prior art keywords
- piece
- output
- input
- limiting
- overload protector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the technical field of overload protection, in particular to an overload protector, and further relates to a truss Z-axis mechanism comprising the overload protector and a truss robot comprising the truss Z-axis mechanism, wherein the overload protector comprises: the input piece is used for connecting a power source; the output piece is used for connecting the driven piece and is in threaded connection with the input piece; the first limiting piece capable of elastically stretching is arranged between the input piece and the output piece, so that first resistance for preventing the output piece from rotating relative to the input piece along a first direction is provided, and the driven piece can automatically cut off torque transmission between the input piece and the output piece from the structure when in overload, so that a truss Z-axis mechanism applied to the overload protector can immediately take protective measures when in collision.
Description
Technical Field
The invention relates to the technical field of overload protection, in particular to an overload protector, and further relates to a truss Z-axis mechanism comprising the overload protector and a truss robot comprising the truss Z-axis mechanism.
Background
The truss robot is suitable for loading and unloading, work piece turning, work piece rotating sequence, etc. of the lathe, production line, its spatial motion is realized by three mutually perpendicular rectilinear motion, mainly include X-axis feed mechanism, Y-axis feed mechanism, Z-axis feed mechanism and dispose the fixture on Z-axis feed mechanism, namely through the joint motion among X-axis, Y-axis, Z-axis three, realize a series of automatic operation flows, at present, Z-axis feed mechanism mainly comprises motor, speed reducer and Z-axis rack and pinion assembly, the motor drives the gear to rotate through the speed reducer, make the Z-axis rack produce the displacement of Z-axis direction (up-down direction), thus make the fixture fixed on Z-axis rack produce the displacement; however, in the process of driving the clamping mechanism to move downwards to grab the material in the Z axis, when the clamping mechanism grabs the material and impacts, the clamping mechanism can be blocked by the material and cannot move downwards, but the motor can continuously run without stop, so that the clamping mechanism is enabled to impact to cause greater damage.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problem that in the prior art, when a moving mechanism which takes rotary power as input and drives a moving end to move collides with an execution end, the power cannot be automatically cut off, an overload protector is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: an overload protector comprising:
the input piece is used for connecting a power source;
the output piece is used for connecting the driven piece and is in threaded connection with the input piece;
and the first limiting part can elastically stretch out and draw back and is used for providing first resistance for preventing the output part from rotating relative to the input part along the first direction, and when acting force transmitted to the output part by the driving part enables the output part to overcome the first resistance, the first limiting part is pushed back to enable the output part to rotate relative to the input part along the first direction.
But through set up the first locating part that elastic expansion is stretched out and drawn back between input and output in this scheme, in order to provide and hinder output along the relative input of first direction and produce pivoted first resistance, make output can push away first locating part to no longer hindering output along the relative input of first direction automatically when transshipping by the driving piece, thereby make output no longer keep synchronous rotation with input, with this from structural automatic cutout input and output between the moment of torsion transmission, and then ensure that this moving mechanism that overload protection ware was used takes place when the striking at the removal end, can make safeguard measure immediately, and this overload protection ware simple structure, low cost, good reliability, market prospect is good.
The output part rotates along the first direction relative to the input part and rotates along the second direction relative to the input part oppositely;
because the moving end of the moving mechanism usually does linear reciprocating motion, the possibility of collision exists on the forward path of the moving mechanism, and an obstacle does not generally exist on the backward path of the moving mechanism, the first limiting piece can disconnect the torque transmission between the input piece and the output piece when the input piece rotates in the positive direction; the second limiting part can ensure that when the input part rotates in the opposite direction, stable torque transmission is kept between the input part and the output part, so that the moving end of the moving mechanism can stably keep retreating action;
meanwhile, when the threads between the input member and the output member are screwed, the effect of keeping stable torque transmission between the input member and the output member when the input member rotates in the opposite direction can be achieved.
Furthermore, the first limiting part and the second limiting part are both configured on the input part, the output part is provided with a limiting boss, and the first limiting part and the second limiting part are respectively positioned at two sides of the limiting boss; or the first limiting piece and the second limiting piece are both arranged on the output piece, the input piece is provided with a limiting boss, and the first limiting piece and the second limiting piece are respectively positioned at two sides of the limiting boss; therefore, when the limiting boss is clamped between the first limiting part and the second limiting part, the input part and the output part can keep synchronous rotation.
Specifically, the first limiting part is a ball plunger.
Furthermore, a key groove for torque transmission is formed in a shaft hole of the output piece, a key matched with the key groove in the shaft hole of the output piece is arranged on the driven piece, and the key groove of the output piece and the key of the driven piece are in sliding connection along the axial direction of the output piece; the torque transmission between the output part and the driven part can be realized by the matching of the key and the key groove, and when the output part rotates relative to the input part along the first direction, the output part can slide along the axial direction of the output part.
The output piece can trigger the second detection element when moving downwards, and can trigger the first detection element when moving upwards; the first and second detecting elements are provided to: when the output piece slides along the axis direction and moves downwards, the output piece can be detected by the second detection element, the second detection element sends feedback information to the control system, the control system controls the power source to stop, after impact repair, the motor is controlled to rotate reversely, the output piece moves upwards along the axis direction until the output piece is detected by the first detection element, the first detection element sends feedback information to the control system, and the overload protector restores to work normally.
Furthermore, a notch is formed in the outer peripheral surface of the input piece, the notch extends into a shaft hole of the input piece, a locking screw is connected to the input piece in a threaded mode, and the locking screw penetrates through the notch; therefore, the input piece can be tightly held on the main shaft of the power source by screwing the locking screw, so that the input piece and the main shaft of the power source can be assembled conveniently.
Furthermore, be equipped with the external screw thread section on the input member, set up on the output member with external screw thread section assorted internal thread hole, the external screw thread section screw in the internal thread hole.
The invention also provides a truss Z-axis mechanism which comprises the overload protector.
The invention also discloses a truss robot which comprises a truss Z-axis mechanism, wherein the truss Z-axis mechanism adopts the truss Z-axis mechanism.
The invention has the beneficial effects that: the overload protector is provided with the first limiting piece capable of elastically stretching and retracting between the input piece and the output piece so as to provide first resistance for preventing the output piece from rotating relative to the input piece along the first direction, so that a driven piece can structurally and automatically cut off torque transmission between the input piece and the output piece when in overload, and therefore a truss Z-axis mechanism applied to the overload protector can immediately take protective measures when in impact.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is an exploded schematic view of an overload protector of the present invention;
fig. 2 is a side three-dimensional schematic view of the overload protector of the present invention;
fig. 3 is another side three-dimensional schematic view of the overload protector of the present invention;
fig. 4 is a schematic top view of the overload protector of the present invention;
fig. 5 is a schematic cross-sectional view of the overload protector of the present invention;
fig. 6 is a schematic front view of the overload protector of the present invention;
FIG. 7 is a schematic view of the overload protector in cooperation with first and second sensing elements in accordance with the present invention;
fig. 8 is a schematic view of the truss Z-axis mechanism of the present invention.
In the figure: 1. the device comprises an input part, 101, a notch, 102, an external thread section, 2, an output part, 201, a key groove, 202, an internal thread hole, 3, a first limiting part, 4, a second limiting part, 5, a limiting boss, 6, a first detection element, 7, a second detection element, 8, a locking screw, 9, a power source, 10, a speed reducer, 11, a connecting part, 12 and a driven part.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention, and directions and references (e.g., upper, lower, left, right, etc.) may be used only to help the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.
Example 1
As shown in fig. 1-7, an overload protector includes:
the input part 1 is used for connecting a power source 9, and the power source 9 can be a servo motor;
the output part 2 is used for connecting a driven part 12 and is in threaded connection with the input part 1, and the driven part 12 can be an input shaft of the speed reducer 10;
and the first limiting part 3 is elastically telescopic and used for providing a first resistance force for preventing the output part 2 from rotating relative to the input part 1 along the first direction, and when the acting force transmitted to the output part 2 by the driving part 12 enables the output part 2 to overcome the first resistance force, the first limiting part 3 is pushed to retract so that the output part 2 rotates relative to the input part 1 along the first direction.
The output part 2 rotates along the first direction relative to the input part 1, and the output part 2 rotates along the second direction relative to the input part 1 in an opposite direction;
because the moving end of the moving mechanism usually moves in a straight reciprocating manner, the moving end has the possibility of collision on the forward path of the moving mechanism, and no obstacle generally exists on the backward path of the moving mechanism, the first limiting part 3 can disconnect the torque transmission between the input part 1 and the output part 2 when the input part 1 rotates in the positive direction; the second limiting part 4 can ensure that when the input part 1 rotates in the opposite direction, the torque transmission between the input part 1 and the output part 2 is kept stable, so that the moving end of the moving mechanism can stably keep retreating action;
meanwhile, when the screw threads between the input member 1 and the output member 2 are screwed, the function of keeping stable torque transmission between the input member 1 and the output member 2 when the input member rotates in the reverse direction can be achieved.
The first limiting piece 3 and the second limiting piece 4 are both arranged on the input piece 1, the output piece 2 is provided with a limiting boss 5, and the first limiting piece 3 and the second limiting piece 4 are respectively positioned at two sides of the limiting boss 5; or the first limiting part 3 and the second limiting part 4 are both configured on the output part 2, the input part 1 is provided with a limiting boss 5, and the first limiting part 3 and the second limiting part 4 are respectively positioned at two sides of the limiting boss 5; therefore, when the limiting boss 5 is clamped between the first limiting piece 3 and the second limiting piece 4, the input piece 1 and the output piece 2 can keep synchronous rotation;
specifically, the first limiting member 3 is a ball plunger, the second limiting member 4 in this embodiment may specifically adopt a plug screw, preferably, the plug screw and the ball plunger are both fixed on the input member 1 through threaded connection, the limiting boss 5 is located on the output member 2, and in a conventional state, the limiting boss 5 is clamped between the ball plunger and the plug screw.
A key groove 201 for torque transmission is arranged in the shaft hole of the output part 2, a key matched with the key groove 201 in the shaft hole of the output part 2 is arranged on the driven part 12, and the key groove 201 of the output part 2 and the key of the driven part 12 are in sliding connection along the axial direction of the output part 2; utilize the cooperation of key and keyway 201 can realize the torque transmission between output 2 and driven piece 12, and when output 2 produced the rotation along first direction relative input 1, output 2 can take place to slide along its axis direction, and keyway 201 in output 2 of this embodiment specifically can be the spline groove, also can be the single key groove, and the key on driven piece 12 then corresponds to spline or single key.
The automatic detection device also comprises a first detection element 6 and a second detection element 7 positioned below the first detection element, wherein the second detection element 7 can be triggered when the output piece 2 moves downwards, and the first detection element 6 can be triggered when the output piece 2 moves upwards; the first detecting element 6 and the second detecting element 7 are provided for the purpose of: when the output part 2 slides along the axis direction and moves downwards, the output part can be detected by the second detection element 7, the second detection element 7 sends feedback information to the control system, the control system controls the power source 9 to stop, after impact repair, the motor is controlled to rotate reversely, the output part 2 moves upwards along the axis direction until the output part is detected by the first detection element 6, the first detection element 6 sends feedback information to the control system, and the overload protector restores to normal work.
The first detecting element 6 and the second detecting element 7 in the present embodiment may specifically employ proximity switches.
A notch 101 is formed in the outer peripheral surface of the input member 1, the notch 101 extends into a shaft hole of the input member 1, a locking screw 8 is connected to the input member 1 in a threaded manner, and the locking screw 8 penetrates through the notch 101; therefore, the input member 1 can be tightly held on the main shaft of the power source 9 by tightening the locking screw 8, so that the input member 1 and the main shaft of the power source 9 can be assembled conveniently.
The input member 1 is provided with an external thread section 102, the output member 2 is provided with an internal thread hole 202 matched with the external thread section 102, and the external thread section 102 is screwed into the internal thread hole 202.
In this embodiment, the first limiting member 3 capable of elastically stretching and retracting is disposed between the input member 1 and the output member 2 to provide a first resistance force for preventing the output member 2 from rotating along the first direction relative to the input member 1, so that the output member 2 can automatically push the first limiting member 3 to no longer prevent the output member 2 from rotating along the first direction relative to the input member 1 when the driven member 12 is overloaded, and thus the output member 2 no longer rotates synchronously with the input member 1, thereby automatically cutting off torque transmission between the input member 1 and the output member 2 from the structure, and further ensuring that a moving mechanism applied by the overload protector can immediately take a protection measure when the moving end collides.
It is worth noting that: the overload protector in the embodiment can be suitable for various moving mechanisms which drive the moving end to move by taking rotary power as input, particularly for the anti-collision protection of the truss Z-axis mechanism, the cost of the anti-collision protection can be greatly reduced, and the product competitiveness is improved.
Example 2
As shown in fig. 8, a truss Z-axis mechanism includes the overload protector in embodiment 1, and the truss Z-axis mechanism may specifically include a power source 9 and a speed reducer 10, fixture and with rotary motion transformation linear motion's rack and pinion subassembly, power supply 9 is the motor, servo motor specifically can be adopted, the main shaft of motor and the input member 1 fixed connection of overload protector, the output member 2 of overload protector and the input shaft of speed reducer 10 pass through the key-type connection, gear fixed connection in the output shaft of speed reducer 10 and the rack and pinion subassembly, fixture sets up on the rack in the rack and pinion subassembly, first detecting element 6 and second detecting element 7 are fixed on connecting piece 11, connecting piece 11 then is fixed on the casing of motor or the casing of speed reducer 10, first detecting element 6, second detecting element 7 and motor all are connected with control system signal.
When fixture snatchs the material and takes place the striking, the fixture of truss Z axle mechanism can't move down again, input 1 among the overload protection ware continues to rotate under the drive of motor, but output 2 can cross the bulb on the bulb plunger, make the speed reducer 10 input shaft that output 2 is connected can't follow the commentaries on classics, output 2 moves down along its axis direction, when second detecting element 7 below connecting piece 11 detects output 2, send feedback information and give control system, servo motor stops rotatory, avoid the striking to cause bigger destruction.
After the impact repair, the servo motor is controlled to rotate reversely, the output part 2 moves upwards relatively and is clamped at the position of the limiting boss 5 of the input part 1, the first detection element 6 at the upper part of the connecting part 11 can detect the output part 2 and send feedback information to the control system, and the overload protector returns to normal.
Example 3
The invention further provides a truss robot which comprises a truss Z-axis mechanism, wherein the truss Z-axis mechanism adopts the truss Z-axis mechanism in the embodiment 2.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that numerous changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. An overload protector, characterized in that: the method comprises the following steps:
an input member (1) for connection to a power source (9);
the output piece (2) is used for connecting the driven piece (12) and is in threaded connection with the input piece (1);
and the first limiting part (3) can elastically stretch and retract, and is used for providing a first resistance force for preventing the output part (2) from rotating relative to the input part (1) along the first direction, and when the acting force transmitted to the output part (2) by the driving part (12) enables the output part (2) to overcome the first resistance force, the first limiting part (3) is pushed to retract so that the output part (2) rotates relative to the input part (1) along the first direction.
2. The overload protector of claim 1, wherein: the device is characterized by further comprising a second limiting part (4), wherein the second limiting part (4) is used for providing second resistance for preventing the output part (2) from rotating relative to the input part (1) along the second direction, and the rotation of the output part (2) relative to the input part (1) along the first direction is opposite to the rotation of the output part (2) relative to the input part (1) along the second direction.
3. The overload protector of claim 2, wherein: the first limiting piece (3) and the second limiting piece (4) are both configured on the input piece (1), the output piece (2) is provided with a limiting boss (5), and the first limiting piece (3) and the second limiting piece (4) are respectively positioned on two sides of the limiting boss (5); or the first limiting part (3) and the second limiting part (4) are both configured on the output part (2), the input part (1) is provided with a limiting boss (5), and the first limiting part (3) and the second limiting part (4) are respectively positioned at two sides of the limiting boss (5).
4. The overload protector of claim 1, wherein: the first limiting part (3) is a ball plunger.
5. The overload protector of claim 1, wherein: a key groove (201) for torque transmission is arranged in a shaft hole of the output part (2), a key matched with the key groove (201) in the shaft hole of the output part (2) is arranged on the driven part (12), and the key groove (201) of the output part (2) is connected with the key of the driven part (12) in a sliding mode along the axial direction of the output part (2).
6. The overload protector of claim 5, wherein: the automatic detection device is characterized by further comprising a first detection element (6) and a second detection element (7) located below the first detection element, the second detection element (7) can be triggered when the output piece (2) moves downwards, and the first detection element (6) can be triggered when the output piece (2) moves upwards.
7. The overload protector of claim 1, wherein: a notch (101) is formed in the outer peripheral surface of the input piece (1), the notch (101) extends into a shaft hole of the input piece (1), a locking screw (8) is connected to the input piece (1) in a threaded mode, and the locking screw (8) penetrates through the notch (101).
8. The overload protector of claim 1, wherein: the input member (1) is provided with an external thread section (102), the output member (2) is provided with an internal thread hole (202) matched with the external thread section (102), and the external thread section (102) is screwed into the internal thread hole (202).
9. The utility model provides a truss Z axle mechanism which characterized in that: an overload protector comprising according to any one of claims 1 to 8.
10. A truss robot, characterized by: the truss Z-axis mechanism is adopted, and the truss Z-axis mechanism is the truss Z-axis mechanism according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010285516.0A CN111438710A (en) | 2020-04-13 | 2020-04-13 | Truss robot, truss Z-axis mechanism and overload protector thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010285516.0A CN111438710A (en) | 2020-04-13 | 2020-04-13 | Truss robot, truss Z-axis mechanism and overload protector thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111438710A true CN111438710A (en) | 2020-07-24 |
Family
ID=71651663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010285516.0A Pending CN111438710A (en) | 2020-04-13 | 2020-04-13 | Truss robot, truss Z-axis mechanism and overload protector thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111438710A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113565890A (en) * | 2021-07-24 | 2021-10-29 | 孙洋 | Disconnectable power output device |
-
2020
- 2020-04-13 CN CN202010285516.0A patent/CN111438710A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113565890A (en) * | 2021-07-24 | 2021-10-29 | 孙洋 | Disconnectable power output device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107159916B (en) | A kind of multi-axis NC Machine Tools | |
| CN111438710A (en) | Truss robot, truss Z-axis mechanism and overload protector thereof | |
| BR112015029682B1 (en) | drilling rig and drilling machine tool | |
| KR930011854B1 (en) | Torque and thrust overload detection system for a machine tool | |
| US5002440A (en) | Apparatus for automatically stopping operation of cutting machine | |
| CN212044823U (en) | Truss robot, truss Z-axis mechanism and overload protector thereof | |
| CN109877861B (en) | Finger mechanism of robot | |
| CN114570954A (en) | Vertical-horizontal switching mechanism for electric spindle and numerical control machine tool | |
| KR910018125A (en) | Machine spindle | |
| CN114644041B (en) | Steering gear assembly capable of switching steering modes, steering system and vehicle | |
| JP6017306B2 (en) | Boring head | |
| JPS639954B2 (en) | ||
| CN115139114B (en) | Four-axis turntable for double-end machining center | |
| CN215199707U (en) | Universal radial drilling machine | |
| US11396052B2 (en) | Turret tool holder | |
| CN103423397A (en) | Reduction gearbox for eliminating intervals of nut strip | |
| CN208614337U (en) | A kind of CNC milling machine rotation tool magazine drive mechanism | |
| CN219703546U (en) | Barrel type turret | |
| CN100486776C (en) | Single hand operation movable wrench | |
| GB2248566A (en) | Retracting power tool drive spindle | |
| CN213575030U (en) | Axial locking mechanism of rotating part | |
| CN104625196A (en) | He-drive type universal milling head of numerical control machine tool | |
| CN220029396U (en) | Stable clamping device | |
| CN213243741U (en) | Servo electric cylinder with anti-rotation device | |
| CN102528519B (en) | C-axis engaging and disengaging device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |